A 5-DOF table-mounted surgical robot

摘要

Combined with the circumstances of the surgical robot and ideas of the modularized design and the plug-and-play, a 5-DOF table-mounted robot system based on the distributed strategy is proposed. According to its functions and the task characteristics, the hardware and software of this system have been designed. Aiming at some key problems of this system and requirements for the safety and the human machine interface (HMI), the structure of PRPRR to form the robot body has been used, and the control system based on the distributed method, accompanied with a 3D mouse for the convenience of HMI, has been adopted. In this way, the accuracy, the safety and the convenience can be ensured. Results from two experiments have confirmed the above requirements.